CN110963089A - Electromagnetic damping buffering foldable attaching leg for small celestial body detection - Google Patents
Electromagnetic damping buffering foldable attaching leg for small celestial body detection Download PDFInfo
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- CN110963089A CN110963089A CN201911055446.3A CN201911055446A CN110963089A CN 110963089 A CN110963089 A CN 110963089A CN 201911055446 A CN201911055446 A CN 201911055446A CN 110963089 A CN110963089 A CN 110963089A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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Abstract
The utility model provides an electromagnetic damping buffering folded cascade adheres to leg for little celestial body is surveyed, in order to adapt to little celestial body and surveys the task demand, adopts the force control of motor to produce equivalent damping and realizes landing leg landing buffering, adopts folding landing leg design simultaneously, reuses folding motion's driving motor and buffering for the energy-absorbing motor for the landing leg has buffer function when folding, has solved traditional buffering landing leg mechanism cushioning property and can not satisfy the demand, has realized the single problem of buffering landing design means.
Description
Technical Field
The invention relates to an electromagnetic damping buffering foldable attaching leg for small celestial body detection, and belongs to the field of deep space detection.
Background
With the development of space exploration technology, the small celestial body landing exploration becomes another hot spot after lunar and mars exploration. The small celestial body has extremely adverse effect on the landing of the detector due to the limitation of conditions such as weak attraction, short spinning period, complex and variable surface topography, unknown star surface medium characteristics and the like, and the detector rebounds when the surface of the detector lands or the container floats after the landing. Therefore, the landing leg of the small celestial body detector is required to have excellent buffering characteristic, and the landing energy can be well absorbed when the detector lands, so that the landing residual energy is reduced to be minimum, and the detector is ensured not to bounce when landing. The traditional lunar and mars surface gravity acceleration is large, the detector always receives large gravity pointing to the star surface when landing, and meanwhile, the lunar and mars detectors have large mass and large landing impact, so that most landing leg buffer materials of the detector have the honeycomb rate of large impact energy absorption capacity. Compared with lunar and Mars detectors, the small celestial body detector has the characteristics of small mass and low landing speed, and has design requirements of strong terrain adaptability.
Patent CN201110027086.3 describes a foldable light landing mechanism, which adopts a foldable design, and does not include a buffer link and has no buffer function; patent CN201010597814.X introduces a buffering landing leg of a planetary detector, and linear extension between an inner sleeve and an outer sleeve is adopted to realize buffering; patent CN201510095001.3 describes a lunar landing buffer device, and the extension and retraction of the buffer device are realized by a fire attack separation mechanism, and the buffer device does not have electromagnetic damping buffer capacity.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problems that the traditional landing mechanism cannot meet the requirement in the prior art and the design means for realizing the buffer landing is single, the electromagnetic damping buffer foldable attachment leg for detecting the small celestial body is provided.
The technical scheme for solving the technical problems is as follows:
the utility model provides a little celestial body is surveyed with electromagnetic damping buffering folded cascade and is adhered to leg, is including adhering to leg support, motor element, gear reduction subassembly, dust cover, output shaft, angular contact ball bearing, torque sensor, big return difference shaft coupling, sliding sleeve, parallel four-bar linkage, landing subassembly, it fixes to be in the detector bottom to adhere to leg support internal surface to adhere to leg support fixed connection, and the dust cover of protection motor element and adjacent component is fixed in adhering to leg support side, and the output shaft that is used for landing impact force transmission is fixed in on the leg support internal surface of motor element opposite side through angular contact ball bearing to through gear reduction subassembly and the motor element linkage that can enlarge motor element moment of torsion, the output shaft links with torque sensor and carries out motor back-drive control to motor element through torque sensor, torque sensor forms with adhering to leg support through the big return difference shaft coupling that transmits the turning force and postpone the landing impact The large-backlash coupling is sleeved with a sliding sleeve for buffering impact force and fixedly connected with the parallel four-bar linkage, one end of the parallel four-bar linkage is rotatably connected to one side of the attached leg support, the other end of the parallel four-bar linkage is rotatably connected to the landing assembly, the landing assembly transmits landing impact to enable the parallel four-bar linkage to rotate reversely in the landing process, the reverse rotation sequentially transmits to the torque sensor through the large-backlash coupling and is sensed by the torque sensor, then the torque sensor drives the output shaft and the gear reduction assembly to perform reverse drive control on the motor assembly, and the motor assembly stops reverse drive to complete landing after the torque sensor senses and rotates.
The gear reduction assembly comprises a large gear and a small gear, the small gear is installed on an output shaft of the motor assembly, and the gear is fixedly connected to the end head of one side, close to the dust cover, of the output shaft.
The landing assembly comprises a landing rod, an attachment, a cushion pad and landing feet, the landing rod is rotatably connected with the other end of the parallel four-bar linkage, the attachment for assisting landing is mounted at the tail end of the landing rod, the landing feet which are directly contacted with the ground for landing are arranged at the end head of the bottom of the attachment, and the cushion pad for reducing landing impact force is arranged between the attachment and the landing feet.
The landing foot is connected with the ground, and the landing foot is connected with the ground through a through hole.
The landing leg support is arranged on the landing leg support and is used for supporting the landing leg support, and the landing leg support is arranged on the side face of the motor assembly.
The landing rods are connected with two parallel four-bar linkages.
The landing assembly is in a folded state when the detector is launched and in an unfolded state after the launching.
The landing rod ensures that the tail end is unchanged in pointing direction in the landing process through the parallel four-bar linkage, and ensures that the attachment points to the surface of the small celestial body constantly.
The motor assembly can change output torque through a transmission force signal of the torque sensor to perform variable damping buffering.
The motor assembly can realize passive buffering when the detector lands through internal electromagnetic force and a buffer pad.
Compared with the prior art, the invention has the advantages that:
(1) the foldable landing leg is buffered by the electromagnetic damping for small celestial body detection, equivalent damping is generated by force control of the motor, landing leg buffering can be realized, the scheme is different from the traditional scheme that the landing leg adopts honeycomb rate buffering, and meanwhile, the foldable landing leg design is adopted, and a driving motor for folding motion and a motor for buffering and energy absorption are multiplexed, so that the landing leg has a buffering function while being folded;
(2) the landing impact load on the landing leg is sensed by the torque sensor, and the method is different from the method of sensing the landing impact load by sensors such as pressure designed on the landing leg, the impact force during landing is converted into moment by the parallel four-bar linkage, and the wiring length can be obviously shortened by the torque sensor compared with the method by the pressure sensor on the landing leg;
(3) the invention adopts the mode of designing the large return difference coupler between the parallel four-bar linkage and the torque sensor, and at the moment of landing impact, according to the characteristic that the rotation speed of the parallel four-bar linkage is extremely high, the large return difference of the coupler is utilized to delay the transmission of impact load to the motor, thereby prolonging the reaction time of motor control and improving the buffering effect.
Drawings
Fig. 1 is a schematic view of a foldable attachment leg structure provided by the invention;
FIG. 2 is a schematic view of the folded state of the attachment legs provided by the present invention;
FIG. 3 is a schematic view of a nominal state of the attachment leg provided by the present invention;
Detailed Description
An electromagnetic damping buffering foldable attachment leg for small celestial body detection is characterized in that an attachment leg support 1 is used as a basis of a whole landing buffering mechanism, as shown in figure 1, the attachment leg support specifically comprises a motor component 2, a gear reduction component 3, a dust cover 4, an output shaft 5, an angular contact ball bearing 6, a torque sensor 7, a large return difference coupler 8, a sliding sleeve 9, a parallel four-bar linkage 10 and a landing component, wherein the landing component mainly comprises a landing rod 12, an attachment 13, a buffering pad 14 and a landing foot 15, the attachment leg support 1 is fixedly connected to the bottom of a detector, the motor component 2 is arranged on the inner surface of the attachment leg support 1 and is continuously electrified in the whole landing process, the dust cover 4 is fixed on the side surface of the attachment leg support 1 to protect the motor component 2 and adjacent elements, the output shaft 5 is fixed on the inner surface of the leg, the landing impact force is transmitted, meanwhile, the torque of the motor component 2 is amplified by the gear reduction component 3 and linked with the motor component 2, the output shaft 5 is connected with the torque sensor 7, the motor component 2 is subjected to motor back-drive control by the torque sensor 7 during landing, the torque sensor 7 and the attachment leg support 1 form a rotating pair structure through the large-return-difference coupling 8, the large-return-difference coupling 8 is used for transmitting the rotating force and delaying the landing impact, and the large-return-difference coupling 8 is sleeved with a sliding sleeve 9 for buffering the impact force and fixedly connected with the parallel four connecting rods 10;
one end of each parallel four-bar linkage 10 is rotatably connected to one side of the attachment leg support 1, the other end of each parallel four-bar linkage is rotatably connected to the end of a landing rod 12 of the landing assembly, the landing assembly transmits landing impact to enable the parallel four-bar linkages 10 to rotate reversely in the landing process, the reverse rotation is transmitted to a torque sensor 7 through a large-return-difference coupler 8 in sequence and is sensed by the torque sensor 7, then the torque sensor 7 drives an output shaft 5 and a gear reduction assembly 3 to perform back drive control on the motor assembly 2, and the motor assembly 2 stops back drive after the torque sensor 7 senses that the rotation disappears to complete the landing; the gear reduction assembly 3 comprises a large gear and a small gear, the small gear is installed on an output shaft of the motor assembly 2, and the gear is fixedly connected to the end of the output shaft 5 close to one side of the dust cover 4.
In the landing assembly, an attachment 13 for assisting landing is mounted at the tail end of a landing rod 12, a landing foot 15 which is directly contacted with the ground for landing is arranged at the bottom end of the attachment 13, a buffer pad 14 for reducing landing impact force is arranged between the attachment 13 and the landing foot 15, meanwhile, the attachment 13 is provided with an ultrasonic drill bit, and after the landing foot 15 is contacted with the ground, the ultrasonic drill bit extends out through a central through hole of the attachment 13 and the landing foot 15 and is drilled and fixed.
When the motor assembly 2 stops rotating, the configuration of the parallel four-bar linkage 10 and the landing bar 12 needs to be maintained, and at this time, the configuration is realized by the motor brake 11 arranged on the leg support 1 attached to the side surface of the motor assembly 2.
The number of the parallel four-bar linkages 10 is 2-1 corresponding to the number of the landing rods 12, the landing rods 12 ensure that the tail end is directed unchanged in the landing process through the parallel four-bar linkages 10, and the attachment 13 is ensured to be directed to the surface of the small celestial body all the time.
In the landing process, the motor assembly 2 can change the output torque through the transmission force signal of the torque sensor 7 to perform damping-variable buffering, and meanwhile, passive buffering can be realized through internal electromagnetic force and the buffering cushion 14 when the detector lands.
As shown in fig. 2 and 3, the leg attachment bracket 1 is of a foldable structure, and can realize functional configurations such as folding, nominal unfolding, buffer backdriving and the like, the detector is in a folded state when being launched, the size of the detector can be reduced, the detector can be unfolded before landing after being launched, the transverse distance between landing legs of the detector can be increased, and the landing stability can be improved;
the motor component 2 is driven to fold and unfold the leg attachment bracket 1, when the leg attachment bracket 1 is unfolded or folded, the torque output by the motor component 2 is transmitted by the gear reduction component 3, the torque sensor 7 and the large return difference coupler 8 and finally output to the parallel four-bar linkage 10, and the output torque of the motor component 2 can be amplified through the gear reduction component 3, so that the landing leg has larger output torque;
when the attached leg support 1 is buffered during landing, the attached leg support 1 is in an unfolded state before buffering, and the buffering process of the attached leg support 1 is a back-driving folding process of the attached leg support. When landing, the landing foot 15 contacts with the landing surface firstly, part of the instantaneous impact during landing is filtered by the buffer cushion 14, and the other part of the instantaneous impact is transmitted to the parallel four-bar linkage 10 through the landing bar 12, so that the reverse rotation of the parallel four-bar linkage 10 is caused, the rotation is transmitted to a torque sensor 7 through a large-return-difference coupler 8, the torque sensor 7 senses the torque of the parallel four-bar linkage generated by the impact of the torque sensor 7 on the land, a controller of the motor component 2 senses the torque information according to the torque sensor 7, the motor component 2 is controlled to be driven reversely, the effect that the torque sensor 7 drives the output shaft 5, the output shaft 5 drives the gear reduction component 3, the gear reduction component 3 drives the output shaft of the motor component 2 to rotate is generated in sequence, when the force information sensed by the torque sensor 7 disappears, the back-driving of the motor assembly 2 is stopped, and the operation achieves the effect of dissipating the landing impact energy through the back-driving of the motor assembly 2.
The following is further illustrated with reference to specific examples:
before landing buffering, the foldable attached leg is in a unfolding state, when the landing leg is in landing buffering, the landing foot 15 firstly contacts with a landing surface, one part of instant impact during landing is filtered by a buffer cushion 14, the other part of the instant impact is transmitted to the parallel four-bar linkage 10 through a landing rod 12 to cause reverse rotation of the parallel four-bar linkage 10, the rotation is transmitted to a torque sensor 7 through a large-return-difference coupling 8, the torque sensor 7 generates impact on the land to sense the torque of the parallel four-bar linkage, a controller of the motor component 2 senses torque information according to the torque sensor 7 to perform reverse drive control on the motor component 2, the torque sensor 7 sequentially generates an effect that the output shaft 5 is driven by the output shaft 5 to drive the gear reduction component 3, the gear reduction component 3 drives the output shaft of the motor component 2 to rotate, and when the force information sensed by the torque sensor 7 disappears, the reverse drive of the motor component 2, this operation achieves the effect of dissipating the landing impact energy by back-driving the motor assembly 2. The magnitude of the reactive force of the motor component 2 can be actively adjusted according to the torque information of the torque sensor 7, so that the effect of variable damping is achieved;
electrifying a motor brake 11 to eliminate the brake of the brake and drive the parallel four-bar linkage 10 to move; when the parallel four-bar linkage 10 stops moving, the motor brake 11 is powered off, and the brake 11 is enabled;
during landing buffering, active control can not be performed on the motor assembly 2, before landing, the motor brake 11 is opened, during landing, the landing rod 12 moves upwards under the action of landing impact load, the movement is converted into rotation of an output shaft and the like through the parallel four-bar linkage 10 and is finally transmitted to the output end of the motor assembly 2, electromagnetic force exists inside the motor assembly 2, when torque exists at the output end of the motor assembly, the output shaft of the motor assembly is reversely driven, the reverse driving movement can generate a speed reduction effect under the action of the electromagnetic force inside the motor assembly, and finally the reverse driving movement stops. The passive buffering function of the landing leg can be used as a backup of the active buffering function.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (10)
1. The utility model provides a little celestial body is surveyed with electromagnetic damping buffering folded cascade and is adhered to leg which characterized in that: comprises an attaching leg support (1), a motor component (2), a gear reduction component (3), a dust cover (4), an output shaft (5), an angular contact ball bearing (6), a torque sensor (7), a large return difference coupler (8), a sliding sleeve (9), a parallel four-bar linkage (10) and a landing component, wherein the attaching leg support (1) is fixedly connected to the bottom of a detector, the motor component (2) which is continuously electrified is arranged on the inner surface of the attaching leg support (1), the dust cover (4) which protects the motor component (2) and adjacent elements is fixed on the side surface of the attaching leg support (1), the output shaft (5) which is used for landing impact transmission is fixed on the inner surface of the leg support (1) on the other side of the motor component (2) through the angular contact ball bearing (6) and is linked with the motor component (2) through the gear reduction component (3) which can amplify the torque of the, an output shaft (5) is connected with a torque sensor (7) and carries out motor back-drive control on a motor component (2) through the torque sensor (7), the torque sensor (7) forms a rotating pair structure with an attached leg support (1) through a large return difference coupler (8) which transmits rotating force and delays landing impact, a sliding sleeve (9) for buffering impact force is sleeved on the large return difference coupler (8) and is fixedly connected with a parallel four-connecting rod (10), one end of the parallel four-connecting rod (10) is rotationally connected to one side of the attached leg support (1), the other end of the parallel four-connecting rod (10) is rotationally connected to the landing component, the landing component transmits the landing impact in the landing process to enable the parallel four-connecting rod (10) to reversely rotate, the reverse rotation is transmitted to the torque sensor (7) through the large return difference coupler (8) and sensed by the torque sensor (7), and then the torque sensor (7) drives the output shaft (5) and a gear reduction component (3) to advance the motor And (4) performing reverse drive control, wherein the torque sensor (7) senses that the motor component (2) stops reverse drive after the rotation disappears and finishes landing.
2. The electromagnetic damping buffering foldable attaching leg for detecting small celestial bodies as claimed in claim 1, wherein: the gear reduction assembly (3) comprises a large gear and a small gear, the small gear is installed on an output shaft of the motor assembly (2), and the gear is fixedly connected to the end of one side, close to the dust cover (4), of the output shaft (5).
3. The electromagnetic damping buffering foldable attaching leg for detecting small celestial bodies as claimed in claim 1, wherein: the landing assembly comprises a landing rod (12), an attachment (13), a cushion pad (14) and landing feet (15), wherein the landing rod (12) is rotatably connected with the other end of the parallel four-bar linkage (10), the attachment (13) for assisting landing is installed at the tail end of the landing rod (12), the landing feet (15) which are directly contacted with the ground for landing are arranged at the end head of the bottom of the attachment (13), and the cushion pad (14) for reducing the landing impact force is arranged between the attachment (13) and the landing feet (15).
4. The electromagnetic damping buffering foldable attachment leg for detecting small celestial bodies as claimed in claim 3, wherein: the attachment (13) is provided with an ultrasonic drill bit, and the ultrasonic drill bit extends out of the central through hole of the attachment (13) and the landing foot (15) and is drilled and fixed after the landing foot (15) is contacted with the ground.
5. The electromagnetic damping buffering foldable attaching leg for detecting small celestial bodies as claimed in claim 1, wherein: the landing leg support is characterized by further comprising a motor brake (11), wherein the motor brake (11) is arranged on the leg support (1) on the side face of the motor component (2), and the parallel four-bar linkage (10) and the landing bar (12) are maintained in a configuration when the motor component (2) stops rotating.
6. The electromagnetic damping buffering foldable attachment leg for detecting small celestial bodies as claimed in claim 3, wherein: the landing rods (12) are connected with two parallel four-bar linkages (10).
7. The electromagnetic damping buffering foldable attaching leg for detecting small celestial bodies as claimed in claim 1, wherein: the landing assembly is in a folded state when the detector is launched and in an unfolded state after the launching.
8. The electromagnetic damping buffering foldable attachment leg for detecting small celestial bodies as claimed in claim 3, wherein: the landing rod (12) ensures that the tail end is unchanged in pointing direction in the landing process through the parallel four-bar linkage (10), and ensures that the attachment (13) points to the surface of the small celestial body all the time.
9. The electromagnetic damping buffering foldable attaching leg for detecting small celestial bodies as claimed in claim 1, wherein: the motor component (2) can change output torque through a transmission force signal of the torque sensor (7) to perform variable damping buffering.
10. The electromagnetic damping buffering foldable attachment leg for detecting small celestial bodies of claim 9, wherein: the motor component (2) can realize passive buffering when the detector lands through internal electromagnetic force and a buffering pad (14).
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| CN201911055446.3A CN110963089B (en) | 2019-10-31 | 2019-10-31 | Electromagnetic damping buffering foldable attaching leg for small celestial body detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111486189A (en) * | 2020-04-16 | 2020-08-04 | 北京空间飞行器总体设计部 | Reusable small celestial body surface attachment buffer mechanism |
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| CN111486189B (en) * | 2020-04-16 | 2021-07-13 | 北京空间飞行器总体设计部 | Reusable small celestial body surface attachment buffer mechanism |
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